A home assistive system, utilizing the Internet of Robotic Things, requires an interactive robot capable of autonomously understanding and engaging with the residential environment. This robot should express emotions through voice, movements, and expressions to pass a sensation that it is more than a mere machine and create an interaction more related between a human and a living assistant, and enhance the human-machine interaction experience, making it more friendly, enjoyable, and engaging, being even more useful and careful with elderly and people with disabilities. The article outlines a method for implementing these gestures to express a humanoid image authentically.